Industrial robot trajectory measurement by target tracking and 3D coordinate measurement in large-scale assembly cell
Ensuring precise and accurate six-degree-of-freedom (6 DoF) positioning of industrial robots is crucial in large-scale automotive and aerospace assembly cells, where even slight positional errors can compromise product quality and production efficiency. Traditional laser tracker–based meth...
Saved in:
| Main Authors: | , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Copernicus Publications
2025-08-01
|
| Series: | The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences |
| Online Access: | https://isprs-archives.copernicus.org/articles/XLVIII-G-2025/1633/2025/isprs-archives-XLVIII-G-2025-1633-2025.pdf |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1850053985899118592 |
|---|---|
| author | M. H. Yang M. A. Isa Z. Wang D. T. Branson III S. Piano |
| author_facet | M. H. Yang M. A. Isa Z. Wang D. T. Branson III S. Piano |
| author_sort | M. H. Yang |
| collection | DOAJ |
| description | Ensuring precise and accurate six-degree-of-freedom (6 DoF) positioning of industrial robots is crucial in large-scale automotive and aerospace assembly cells, where even slight positional errors can compromise product quality and production efficiency. Traditional laser tracker–based methods commonly require multiple trackers to acquire complete 6 DoF measurements, leading to high costs and constraints such as limited measurement range, line-of-sight restrictions, and declining accuracy in large workspaces. This study presents a low-cost approach that combines pre-characterized target tracking with photogrammetry to overcome these limitations. By mounting a specially designed target artifact on a robot’s end effector and capturing images from multiple high-resolution cameras, the proposed system performs camera calibration and multi-view triangulation to calculate the artifact’s three-dimensional (3D) position and orientation. Preliminary results validate the method’s efficacy, showing that the edges of spherical targets can be accurately fitted in three dimensions. In the next phase of research, the corrected pose data from the vision system will be transmitted back to the robot, enabling a closed-loop feedback control strategy. Comprehensive validation trials will further quantify the system’s accuracy and robustness, laying the groundwork for broader adoption in large-scale industrial assembly applications. |
| format | Article |
| id | doaj-art-3aa3da81fb2247388b8201aa136b139d |
| institution | DOAJ |
| issn | 1682-1750 2194-9034 |
| language | English |
| publishDate | 2025-08-01 |
| publisher | Copernicus Publications |
| record_format | Article |
| series | The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences |
| spelling | doaj-art-3aa3da81fb2247388b8201aa136b139d2025-08-20T02:52:24ZengCopernicus PublicationsThe International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences1682-17502194-90342025-08-01XLVIII-G-20251633163910.5194/isprs-archives-XLVIII-G-2025-1633-2025Industrial robot trajectory measurement by target tracking and 3D coordinate measurement in large-scale assembly cellM. H. Yang0M. A. Isa1Z. Wang2D. T. Branson III3S. Piano4Manufacturing Metrology Team, Faculty of Engineering, Advanced Manufacturing Building, University of Nottingham Jubilee Campus, Nottingham, NG8 1BB, UKManufacturing Metrology Team, Faculty of Engineering, Advanced Manufacturing Building, University of Nottingham Jubilee Campus, Nottingham, NG8 1BB, UKCentre for Aerospace Manufacturing, Faculty of Engineering, Advanced Manufacturing Building, University of Nottingham Jubilee Campus, Nottingham, NG8 1BB, UKNottingham Advanced Robotics Laboratory, Faculty of Engineering, Advanced Manufacturing Building, University of Nottingham Jubilee Campus, Nottingham, NG8 1BB, UKManufacturing Metrology Team, Faculty of Engineering, Advanced Manufacturing Building, University of Nottingham Jubilee Campus, Nottingham, NG8 1BB, UKEnsuring precise and accurate six-degree-of-freedom (6 DoF) positioning of industrial robots is crucial in large-scale automotive and aerospace assembly cells, where even slight positional errors can compromise product quality and production efficiency. Traditional laser tracker–based methods commonly require multiple trackers to acquire complete 6 DoF measurements, leading to high costs and constraints such as limited measurement range, line-of-sight restrictions, and declining accuracy in large workspaces. This study presents a low-cost approach that combines pre-characterized target tracking with photogrammetry to overcome these limitations. By mounting a specially designed target artifact on a robot’s end effector and capturing images from multiple high-resolution cameras, the proposed system performs camera calibration and multi-view triangulation to calculate the artifact’s three-dimensional (3D) position and orientation. Preliminary results validate the method’s efficacy, showing that the edges of spherical targets can be accurately fitted in three dimensions. In the next phase of research, the corrected pose data from the vision system will be transmitted back to the robot, enabling a closed-loop feedback control strategy. Comprehensive validation trials will further quantify the system’s accuracy and robustness, laying the groundwork for broader adoption in large-scale industrial assembly applications.https://isprs-archives.copernicus.org/articles/XLVIII-G-2025/1633/2025/isprs-archives-XLVIII-G-2025-1633-2025.pdf |
| spellingShingle | M. H. Yang M. A. Isa Z. Wang D. T. Branson III S. Piano Industrial robot trajectory measurement by target tracking and 3D coordinate measurement in large-scale assembly cell The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences |
| title | Industrial robot trajectory measurement by target tracking and 3D coordinate measurement in large-scale assembly cell |
| title_full | Industrial robot trajectory measurement by target tracking and 3D coordinate measurement in large-scale assembly cell |
| title_fullStr | Industrial robot trajectory measurement by target tracking and 3D coordinate measurement in large-scale assembly cell |
| title_full_unstemmed | Industrial robot trajectory measurement by target tracking and 3D coordinate measurement in large-scale assembly cell |
| title_short | Industrial robot trajectory measurement by target tracking and 3D coordinate measurement in large-scale assembly cell |
| title_sort | industrial robot trajectory measurement by target tracking and 3d coordinate measurement in large scale assembly cell |
| url | https://isprs-archives.copernicus.org/articles/XLVIII-G-2025/1633/2025/isprs-archives-XLVIII-G-2025-1633-2025.pdf |
| work_keys_str_mv | AT mhyang industrialrobottrajectorymeasurementbytargettrackingand3dcoordinatemeasurementinlargescaleassemblycell AT maisa industrialrobottrajectorymeasurementbytargettrackingand3dcoordinatemeasurementinlargescaleassemblycell AT zwang industrialrobottrajectorymeasurementbytargettrackingand3dcoordinatemeasurementinlargescaleassemblycell AT dtbransoniii industrialrobottrajectorymeasurementbytargettrackingand3dcoordinatemeasurementinlargescaleassemblycell AT spiano industrialrobottrajectorymeasurementbytargettrackingand3dcoordinatemeasurementinlargescaleassemblycell |